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master's thesis
Sigurnosni robotski sustav za kretanje po vertikalnim površinama
2023. urn:nbn:hr:235:605413
Putanec, Patrik
University of Zagreb
Faculty of Mechanical Engineering and Naval Architecture

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Putanec, P. (2023). Sigurnosni robotski sustav za kretanje po vertikalnim površinama (Master's thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:605413

Putanec, Patrik. "Sigurnosni robotski sustav za kretanje po vertikalnim površinama." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2023. https://urn.nsk.hr/urn:nbn:hr:235:605413

Putanec, Patrik. "Sigurnosni robotski sustav za kretanje po vertikalnim površinama." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2023. https://urn.nsk.hr/urn:nbn:hr:235:605413

Putanec, P. (2023). 'Sigurnosni robotski sustav za kretanje po vertikalnim površinama', Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 03 March 2025, https://urn.nsk.hr/urn:nbn:hr:235:605413

Putanec P. Sigurnosni robotski sustav za kretanje po vertikalnim površinama [Master's thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2023 [cited 2025 March 03] Available at: https://urn.nsk.hr/urn:nbn:hr:235:605413

P. Putanec, "Sigurnosni robotski sustav za kretanje po vertikalnim površinama", Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2023. Available at: https://urn.nsk.hr/urn:nbn:hr:235:605413

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Metadata
TitleSigurnosni robotski sustav za kretanje po vertikalnim površinama
Title (english)Safety robotic system for motion on vertical surfaces
AuthorPatrik Putanec
MentorMarko Švaco (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2023-07-20, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
U ovom radu napravljena je nadogradnja postojećeg prototipa sigurnosnog robota penjača. Nadogradnja uključuje kompletnu izradu i integraciju periferne elektronike na robota penjača (senzori, mikroupravljač, radio modul), izradu programskog koda za praćenje senzora i implementaciju upravljačkog algoritma. Za upravljanje pozicijom robota odabrana je kaskadna struktura sa PI regulatorom brzine vrtnje kotača i P regulatorom položaja, za koje su izračunati parametri prema optimumu dvostrukog odnosa. Izrađeno je i implementirano programsko rješenje za sinkronizaciju gibanja četiri sigurnosna robota penjača, te rješenje za akviziciju mjerenja sa senzora na Teensy 4.0 mikroupravljač. Upravljački algoritmi su verificirani uz pomoć OptiTrack sustava kamera za praćenje pozicije objekata u prostoru. Konačno, identificirana su konstrukcijska rješenja na robotu koja uzrokuju smanjenu točnost praćenja položaja preko enkodera kotača i senzora optičkog pomaka.
Abstract (english)
Within this master thesis an upgrade was made on the existing column-climbing safety-robot-system prototype. The upgrade includes complete incorporation of electronics (sensors, microcontroller, radio module), creation of program code for acquisition of sensor values and the implementation of a control algorithm. For controlling the robot's position, a cascade control system containing PI speed controller and P position controller was chosen. Their parameters were calculated by means of Double Ratios Optimum. A program solution for synchronizing the movement of four column-climbing safety-robots was created and implemented, as well as a solution for sensor acquisition on a Teensy 4.0 microcontroller. Control algorithms were verified by means of OptiTrack optical motion capture system. Lastly, several construction features which reduce the measured position accuracy of the encoder and optical-flow sensor were identified.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:605413
Study programmeTitle: Mechanical Engineering
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
Type of resourceText
File originBorn digital
Access conditionsOpen access
Terms of useLicence In copyright icon
Created on2023-07-17 11:07:11